EP0803427A2 - Vehicle steering device - Google Patents

Vehicle steering device Download PDF

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Publication number
EP0803427A2
EP0803427A2 EP97104653A EP97104653A EP0803427A2 EP 0803427 A2 EP0803427 A2 EP 0803427A2 EP 97104653 A EP97104653 A EP 97104653A EP 97104653 A EP97104653 A EP 97104653A EP 0803427 A2 EP0803427 A2 EP 0803427A2
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EP
European Patent Office
Prior art keywords
steering
vehicle
vehicle steering
control
signal
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Granted
Application number
EP97104653A
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German (de)
French (fr)
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EP0803427B1 (en
EP0803427A3 (en
Inventor
Hubert Bohner
Martin Moser
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Mercedes Benz Group AG
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Daimler Benz AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves

Definitions

  • the invention relates to a vehicle steering system with a steering handle actuated by the driver, in particular a steering handwheel, and with it steered vehicle wheels operatively connected, the steering handle actuating a setpoint device arrangement and the steered vehicle wheels being actuated by a hydraulic actuator, which in turn is controlled by means of an electrically operated solenoid valve arrangement, the electric valve current of which a control component determined by the target / actual value comparison of the steering angle or a variable correlated therewith.
  • the steering handwheel and the vehicle steering wheels are mechanically positively coupled to one another for steering actuation.
  • DE 38 23 413 A1 discloses a vehicle steering system of the type specified at the outset.
  • This known vehicle steering is particularly intended for unmanned transport vehicles, which e.g. used in production plants and controlled by inductive vehicle guidance systems.
  • the hydraulic system pressure has a comparatively low value, which is increased if a setpoint / actual value difference could not otherwise be corrected.
  • DD 237 639 A1 and DE 92 05 781 U1 show electrohydraulic steering devices, in particular for agricultural machinery and tractors or motor vehicle rear axles. PID controllers can be used.
  • the object of the invention is to show a particularly advantageous embodiment of a steering system of the type specified at the outset, the steering system also being able to be used for conventional road vehicles.
  • This object is achieved in that the electric valve current is additionally controlled as a function of a setpoint-dependent control component.
  • the control component is preferably proportional to the rate of change of the setpoint.
  • the invention is based on the general idea of using construction elements which are known and reliable as far as possible - in the present case hydraulic actuators and solenoid valves.
  • the invention is based on the concept of enabling a coarse adjustment without any delay through a target / actual value comparison using the control portion, while only the fine adjustment is made via a control portion determined by means of the target / actual value comparison.
  • control component is preferably proportional to the rate of change of the setpoint value, particularly in the case of fast steering maneuvers, for example if an obstacle that suddenly appears has to be avoided, a particularly instantaneous actuation of the vehicle steering wheels is ensured.
  • the control component preferably comprises a proportional component and - above a threshold value of the control differential - also a differential component of the control differential. Since no differential component is taken into account in the case of slight control differences, comfortable driving behavior is ensured in particular in the event of possible vibrations in the vehicle, for example due to wheel imbalance. In particular, it is ensured that the regulation does not amplify the vibrations that occur.
  • a motor vehicle not shown, has at least one axle with vehicle steering wheels 1 or the like via tie rods 2.
  • a hydraulic actuator 3 which in the example shown is designed as a double-acting piston-cylinder unit.
  • This piston-cylinder unit 3 has two hydraulic chambers separated from each other by its piston, which are connected via lines 4 and 5 to an electromagnetically actuated proportional valve 6, which in turn has a hydraulic pressure accumulator 7 that is constantly supplied by a hydraulic pump 8 at a predetermined pressure is retained, and on the other hand is connected to a hydraulic reservoir 9, to which the suction side of the pump 8 is also connected.
  • a check valve 10 is arranged between the pump 8 and the pressure accumulator 7.
  • the pressure of the pressure accumulator 7 is dimensioned and the proportional valve 6 is designed such that the respective hydraulic current is proportional to the electrical valve current. In order to is the actuating speed of the actuator 3 proportional to the electrical valve current.
  • a steering handwheel 11 actuated by the driver controls a setpoint generator 13, which generates an electrical signal representing the angle of rotation of the steering handwheel 11 and forwards it to an input of an electronic control circuit 14.
  • Another input of the control circuit 14 is connected to a sensor 15, the signal of which represents the stroke of the piston-cylinder unit 3.
  • the control circuit 14 controls the solenoids of the proportional valve 6.
  • the setpoint generator 13 can have an input which receives signals from an autonomous control 200 which, for example, can be used to automatically keep the vehicle in a predefined lane or to make steering corrections in gusty side winds.
  • an autonomous control 200 which, for example, can be used to automatically keep the vehicle in a predefined lane or to make steering corrections in gusty side winds.
  • the setpoint generator 13 shown has an input 16 which is connected to a rotary angle transmitter actuated by the steering handwheel 11.
  • This rotary encoder generates a signal Phi ist , which represents the angle of rotation of the steering handwheel.
  • This signal is fed to a stage 18, the output signal of which represents the amount of the difference between the center position of the steering handwheel and the respectively set rotational position of the steering handwheel 11.
  • the stage 18 is connected on the output side to a stage 19, the further input 20 of which continuously receives signals about the driving speed.
  • the stage 19 can thus generate a signal i steer on the output side, which represents a speed-dependent transmission ratio between the angle of rotation of the steering handwheel 11 and the steering angle of the vehicle steering wheels 1.
  • This signal is forwarded to a steering i input of a divider 21, which moreover, is connected to the input 16 and, accordingly, the signals Phi is representing the rotational angle of the steering handwheel 11, receives.
  • a signal Phi driver is now generated, which can be understood as the driver's steering angle specification for the vehicle steering wheels 1.
  • This signal is passed on to an adder 22, which additionally receives signals from an autonomous steering control 200, the signals of which can represent, for example, steering corrections to compensate for side wind influences or other steering specifications. For example, these signals can also represent the desired steering angle of the vehicle steering wheels 1 if the vehicle is to automatically follow a predetermined lane.
  • this signal is fed directly to an input of a multiplier 23, the other input of which is connected to a stage 24, which also receives the signal Phi soll on the input side.
  • stage 24 the kinematics of the drive transmission between the actuating unit 3 (see FIG. 1) and the vehicle steering wheels 1 is now taken into account.
  • the steering angle of the vehicle steering wheels 1 is not exactly linearly proportional to the actuating stroke of the actuating unit 3.
  • step 24 therefore, a signal i kin is generated, which can be understood as a correction factor.
  • the signal i kin and the signal Phi soll are now multiplicatively linked to one another in the multiplier 23, so that on the output side there is a signal x soll which represents that setpoint of the actuating stroke of the actuating unit 3 which, due to the respective kinematics of the drive transmission between the actuating unit 3 and the vehicle steering wheels 1 the respective target value Phi should correspond to the steering angle of the vehicle steering wheels.
  • the signal x soll forms the output signal of the setpoint generator 13 or the input signal of the controller 14.
  • the signal x soll is, on the one hand, fed to a differentiating stage 26, which on the output side generates an output S which is dependent on the rate of change of the target value x soll .
  • the signal x to a comparator 27 supplied to said actual value of x is that signal compares the stroke measurement of the adjusting unit 3; this signal x ist is generated by means of the sensor 15 (cf. FIG. 1).
  • the comparator 27 On the output side, the comparator 27 outputs a signal X, which the control difference, ie the difference between x and x is intended to reproduce.
  • This signal X is processed in the sense of a modified PD control.
  • a signal P is generated in a stage 28, which receives the signal X on the input side, which signal is proportional to the control difference.
  • a signal d is generated which is proportional to the rate of change of the control difference X.
  • control difference X is fed to a stage 30, which has a signal on the output side "is generated if the amount of the control difference X is below a first threshold value. If the amount of the control difference X is above a second threshold value, which is greater than the first threshold value, the stage 30 generates a signal on the output side one ". If the control difference X is between the two threshold values, a signal is generated on the output side by the stage 30, which signal between null "and one "lies and grows with increasing regulatory differences.
  • the signal d and the output signals of the stage 30 are multiplicatively linked to one another, so that a signal D is generated on the output side. If the control difference X is above the second threshold value, the signal D corresponds to the signal d. If the control difference X is smaller than the first threshold value, the signal D corresponds to the signal zero ". If the control difference X is between the two threshold values, the signal D represents a value between zero "and the value represented by signal d.
  • the signal S which represents a control component and the signal P, which represents a proportional control component, and the signal D, which represents a modified differential control component, are additively linked to one another in a summer 32, the output signal of which is the electrical valve current i valve for the actuating magnets of the proportional valve 6.
  • the signal i valve thus controls the actuating unit 3, the actuating stroke of which is monitored by the sensor 15, which accordingly the signal x is generated, which reproduces the actual position of the actuating unit 3 and is fed to the comparator 27, as already mentioned above.
  • this signal can also be fed to the autonomous control 200 for special driving conditions.
  • the differentiating stages 26 and 29 can optionally be formed by appropriately coordinated high-pass filters.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)

Abstract

Die Erfindung betrifft eine Fahrzeuglenkung, bei der mittels einer Lenkhandhabe (11) eine Sollwertgeberanordnung (13) betätigt wird, die mit einem hydraulischen Stellaggregat (3) für die Fahrzeuglenkräder (1) über eine Regelstrecke verbunden ist. Durch eine modifizierte PD-Regelung sowie durch Berücksichtigung eines Steueranteiles kann eine präzise Betätigung des Stellaggregates (3) in Analogie zur Betätigung der Lenkhandhabe (11) gewährleistet werden.

Figure imgaf001
The invention relates to a vehicle steering system in which a setpoint generator arrangement (13) is actuated by means of a steering handle (11) and is connected to a hydraulic actuating unit (3) for the vehicle steering wheels (1) via a controlled system. A modified PD control and by taking into account a control component can ensure precise actuation of the actuating unit (3) in analogy to the actuation of the steering handle (11).
Figure imgaf001

Description

Die Erfindung betrifft eine Fahrzeuglenkung mit vom Fahrer betätigter Lenkhandhabe, insbesondere Lenkhandrad, und damit wirkverbundenen gelenkten Fahrzeugrädern, wobei die Lenkhanhabe eine Sollwertgeberanordnung betätigt und die gelenkten Fahrzeugräder durch einen hydraulischen Stellantrieb betätigt werden, der seinerseits mittels elektrisch betätigter Magnetventilanordnung gesteuert wird, deren elektrischer Ventilstrom von einem durch Soll-Istwert-Vergleich des Lenkwinkels bzw. einer damit korrelierten Größe bestimmten Regelanteil abhängig ist.The invention relates to a vehicle steering system with a steering handle actuated by the driver, in particular a steering handwheel, and with it steered vehicle wheels operatively connected, the steering handle actuating a setpoint device arrangement and the steered vehicle wheels being actuated by a hydraulic actuator, which in turn is controlled by means of an electrically operated solenoid valve arrangement, the electric valve current of which a control component determined by the target / actual value comparison of the steering angle or a variable correlated therewith.

Bei üblichen Fahrzeuglenkungen in Personenkraftwagen sind das Lenkhandrad und die Fahrzeuglenkräder zur Lenkbetätigung miteinander mechanisch zwangsgekoppelt.In conventional vehicle steering systems in passenger cars, the steering handwheel and the vehicle steering wheels are mechanically positively coupled to one another for steering actuation.

Insbesondere aus dem Flugzeugbau ist es grundsätzlich bekannt, Flügelklappen bzw. Leitflächen dadurch zu steuern, daß der Pilot mittels einer Steuerhandhabe lediglich einen Sollwertgeber betätigt, der dann über eine elektronisch arbeitende Regelstrecke mit den Flügelklappen bzw. Leitwerken wirkungsverbunden ist. Dieses auch als

Figure imgb0001
Fly by wire" bezeichnete Konzept ist inzwischen derart zuverlässig, daß es sogar für Passagiermaschinen eingesetzt wird.From aircraft construction in particular, it is fundamentally known to control wing flaps or guide surfaces in that the pilot uses a control handle to actuate only a setpoint device, which is then functionally connected to the wing flaps or tail units via an electronically operating controlled system is. This also as
Figure imgb0001
Fly by wire "concept has become so reliable that it is even used for passenger aircraft.

Grundsätzlich muß davon ausgegangen werden, daß entsprechende Konzepte auch für Fahrzeuglenkungen einsetzbar und vorteilhaft sind, insbesondere weil dann der andernfalls für die Lenksäule bzw. die mechanische Zwangskopplung zwischen Lenkhandrad und Lenkrädern benötigte Raum anderweitig genutzt werden kann und bei der Entwicklung des Fahrzeuges nicht mehr berücksichtigt werden muß. Außerdem wird durch Wegfall der Lenksäule das Verletzungsrisiko für den Fahre- bei einem Unfall vermindert.Basically, it must be assumed that corresponding concepts can also be used and advantageous for vehicle steering, in particular because then the space otherwise required for the steering column or the mechanical forced coupling between the steering handwheel and steering wheels can be used in another way and is no longer taken into account in the development of the vehicle got to. In addition, by eliminating the steering column, the risk of injury to the driver is reduced in the event of an accident.

Aus der DE 38 23 413 A1 ist eine Fahrzeuglenkung der eingangs angegebenen Art bekannt. Diese bekannte Fahrzeuglenkung ist insbesondere für unbemannte Transportfahrzeuge vorgesehen, welche z.B. in Fertigungsanlagen eingesetzt und durch induktiv arbeitende Fahrzeugführungssysteme gesteuert werden. Um den Energiebedarf der bekannten Fahrzeuglenkung gering zu halten, ist vorgesehen, den hydraulischen Systemdruck dem jeweiligen Bedarf anzupassen. In der Regel hat der hydraulische Systemdruck einen vergleichsweise geringen Wert, welcher erhöht wird, wenn eine Soll-Istwert-Differenz andernfall nicht ausgeregelt werden könnte.DE 38 23 413 A1 discloses a vehicle steering system of the type specified at the outset. This known vehicle steering is particularly intended for unmanned transport vehicles, which e.g. used in production plants and controlled by inductive vehicle guidance systems. In order to keep the energy requirement of the known vehicle steering low, provision is made to adapt the hydraulic system pressure to the respective requirement. As a rule, the hydraulic system pressure has a comparatively low value, which is increased if a setpoint / actual value difference could not otherwise be corrected.

Diese bekannte Fahrzeuglenkung arbeitet also mit einer gewissen Trägheit, welche jedoch im Hinblick auf die regelmäßig geringe Fahrgeschwindigkeit der unbemannten Transportsysteme toleriert werden kann.This known vehicle steering thus works with a certain inertia, which, however, with regard to the regular low driving speed of the unmanned transport systems can be tolerated.

Die DD 237 639 A1 sowie die DE 92 05 781 U1 zeigen elektrohydraulische Lenkvorrichtungen, insbesondere für Landmaschinen und Traktoren bzw. Kraftfahrzeug-Hinterachsen. Dabei können PID-Regler eingesetzt werden.DD 237 639 A1 and DE 92 05 781 U1 show electrohydraulic steering devices, in particular for agricultural machinery and tractors or motor vehicle rear axles. PID controllers can be used.

Aufgabe der Erfindung ist es nun, eine besonders vorteilhafte Ausgestaltung einer Lenkung der eingangs angegebenen Art aufzuzeigen, wobei die Lenkung auch für übliche Straßenfahrzeuge einsetzbar sein soll.The object of the invention is to show a particularly advantageous embodiment of a steering system of the type specified at the outset, the steering system also being able to be used for conventional road vehicles.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, daß der elektrische Ventilstrom zusätzlich in Abhängigkeit von einem sollwertabhängigen Steueranteil gesteuert wird.This object is achieved in that the electric valve current is additionally controlled as a function of a setpoint-dependent control component.

Hierbei ist der Steueranteil vorzugsweise proportional der Änderungsgeschwindigkeit des Sollwertes.The control component is preferably proportional to the rate of change of the setpoint.

Die Erfindung beruht auf dem allgemeinen Gedanken, möglichst weitgehend bekannte und zuverlässige Konstruktionselemente - im vorliegenden Falle hydraulische Stellantriebe und Magnetventile - einzusetzen. Hinsichtlich der Regelstrecke zwischen Lenkhandhabe und Fahrzeuglenkrädern beruht die Erfindung auf dem Konzept, durch den Steueranteil bereits eine ohne jede Verzögerung durch einen Soll-Istwert-Vergleich erfolgende Grobeinstellung zu ermöglichen, während lediglich die Feineinstellung über einen durch Soll-Istwert-Vergleich ermittelten Regelanteil erfolgt.The invention is based on the general idea of using construction elements which are known and reliable as far as possible - in the present case hydraulic actuators and solenoid valves. With regard to the controlled system between Steering handle and vehicle steering wheels, the invention is based on the concept of enabling a coarse adjustment without any delay through a target / actual value comparison using the control portion, while only the fine adjustment is made via a control portion determined by means of the target / actual value comparison.

Da der Steueranteil vorzugsweise proportional zur Änderungsgeschwindigkeit des Sollwertes ist, wird insbesondere bei schnellen Lenkmanövern, etwa wenn einem plötzlich auftauchenden Hindernis ausgewichen werden muß, eine besonders verzögerungsfreie Betätigung der Fahrzeuglenkräder sichergestellt.Since the control component is preferably proportional to the rate of change of the setpoint value, particularly in the case of fast steering maneuvers, for example if an obstacle that suddenly appears has to be avoided, a particularly instantaneous actuation of the vehicle steering wheels is ensured.

Der Regelanteil umfaßt vorzugsweise einen Proportionalanteil sowie - oberhalb eines Schwellwertes der Regeldifferenz - auch einen Differentialanteil der Regeldifferenz. Indem bei geringfügigen Regeldifferenzen kein Differentialanteil berücksichtigt wird, wird insbesondere bei möglichen Vibrationen im Fahrzeug, beispielsweise aufgrund von Unwuchten der Räder, ein komfortables Fahrverhalten gewährleistet. Insbesondere ist sichergestellt, daß die Regelung die auftretenden Schwingungen nicht verstärkt.The control component preferably comprises a proportional component and - above a threshold value of the control differential - also a differential component of the control differential. Since no differential component is taken into account in the case of slight control differences, comfortable driving behavior is ensured in particular in the event of possible vibrations in the vehicle, for example due to wheel imbalance. In particular, it is ensured that the regulation does not amplify the vibrations that occur.

Im übrigen wird hinsichtlich bevorzugter Merkmale der Erfindung auf die Ansprüche sowie die nachfolgende Erläuterung der Zeichnung verwiesen, anhand der eine besonders bevorzugte Ausführungsform der Erfindung beschrieben wird.Otherwise, with regard to preferred features of the invention, reference is made to the claims and the following explanation of the drawing, on the basis of which a particularly preferred embodiment of the invention is described.

Dabei zeigt

Fig. 1
eine schematisierte Gesamtdarstellung der erfindungsgemäßen Fahrzeuglenkung und
Fig. 2
ein Blockschaltbild des Sollwertgebers und der Regelstrecke.
It shows
Fig. 1
a schematic overall representation of the vehicle steering system according to the invention and
Fig. 2
a block diagram of the setpoint generator and the controlled system.

Gemäß Fig. 1 besitzt ein nicht näher dargestelltes Kraftfahrzeug zumindest eine Achse mit Fahrzeuglenkrädern 1, die über Spurstangen 2 od.dgl. mit einem hydraulischen Stellaggregat 3 mechanisch zwangsgekoppelt sind, welches im dargestellten Beispiel als doppeltwirkendes Kolben-Zylinder-Aggregat ausgebildet ist. Dieses Kolben-Zylinder-Aggregat 3 besitzt zwei durch seinen Kolben voneinander abgeteilte Hydraulikkammern, die über Leitungen 4 und 5 mit einem elektromagnetisch betätigbaren Proportionalventil 6 verbunden sind, welches seinerseits einerseits mit einem hydraulischen Druckspeicher 7, der von einer Hydraulikpumpe 8 ständig auf einem vorgegebenen Druck behalten wird, und andererseits mit einem Hydraulikreservoir 9 verbunden ist, an das auch die Saugseite der Pumpe 8 angeschlossen ist. Um eine Entladung des Druckspeichers 7 bei gegebenenfalls stillstehender Pumpe 8 zu verhindern, ist zwischen Pumpe 8 und Druckspeicher 7 ein Rückschlagventil 10 angeordnet.1, a motor vehicle, not shown, has at least one axle with vehicle steering wheels 1 or the like via tie rods 2. are mechanically positively coupled to a hydraulic actuator 3, which in the example shown is designed as a double-acting piston-cylinder unit. This piston-cylinder unit 3 has two hydraulic chambers separated from each other by its piston, which are connected via lines 4 and 5 to an electromagnetically actuated proportional valve 6, which in turn has a hydraulic pressure accumulator 7 that is constantly supplied by a hydraulic pump 8 at a predetermined pressure is retained, and on the other hand is connected to a hydraulic reservoir 9, to which the suction side of the pump 8 is also connected. In order to prevent the pressure accumulator 7 from being discharged when the pump 8 is possibly at a standstill, a check valve 10 is arranged between the pump 8 and the pressure accumulator 7.

Der Druck des Druckspeichers 7 ist so bemessen und das Proportionalventil 6 ist so ausgelegt, daß der jeweilige Hydraulikstrom proportional dem elektrischen Ventilstrom ist. Damit ist die Stellgeschwindigkeit des Stellaggregates 3 proportional zum elektrischen Ventilstrom.The pressure of the pressure accumulator 7 is dimensioned and the proportional valve 6 is designed such that the respective hydraulic current is proportional to the electrical valve current. In order to is the actuating speed of the actuator 3 proportional to the electrical valve current.

Ein vom Fahrer betätigtes Lenkhandrad 11 steuert einen Sollwertgeber 13, welcher ein den Drehwinkel des Lenkhandrades 11 wiedergebendes elektrisches Signal erzeugt und an einen Eingang einer elektronischen Regelschaltung 14 weiterleitet. Ein weiterer Eingang der Regelschaltung 14 ist mit einem Sensor 15 verbunden, dessen Signal den Hub des Kolben-Zylinder-Aggregates 3 repräsentiert. Ausgangsseitig steuert die Regelschaltung 14 die Stellmagnete des Proportionalventiles 6.A steering handwheel 11 actuated by the driver controls a setpoint generator 13, which generates an electrical signal representing the angle of rotation of the steering handwheel 11 and forwards it to an input of an electronic control circuit 14. Another input of the control circuit 14 is connected to a sensor 15, the signal of which represents the stroke of the piston-cylinder unit 3. On the output side, the control circuit 14 controls the solenoids of the proportional valve 6.

Gegebenenfalls kann der Sollwertgeber 13 einen Eingang aufweisen, welcher Signale einer autonomen Steuerung 200 empfängt, die beispielsweise dazu dienen kann, das Fahrzeug automatisch in einer vorzugebenen Spur zu halten oder bei böigen Seitenwinden Lenkkorrekturen vorzunehmen.Optionally, the setpoint generator 13 can have an input which receives signals from an autonomous control 200 which, for example, can be used to automatically keep the vehicle in a predefined lane or to make steering corrections in gusty side winds.

Gemäß Fig. 2 besitzt der dargestellte Sollwertgeber 13 einen Eingang 16, der mit einem durch das Lenkhandrad 11 betätigten Drehwinkelgeber verbunden ist. Dieser Drehwinkelgeber erzeugt ein Signal Phiist, welches den Drehwinkel des Lenkhandrades wiedergibt. Dieses Signal wird einer Stufe 18 zugeführt, deren Ausgangssignal den Betrag der Differenz zwischen der Mittellage des Lenkhandrades und der jeweils eingestellten Drehlage des Lenkhandrades 11 repräsentiert.According to FIG. 2, the setpoint generator 13 shown has an input 16 which is connected to a rotary angle transmitter actuated by the steering handwheel 11. This rotary encoder generates a signal Phi ist , which represents the angle of rotation of the steering handwheel. This signal is fed to a stage 18, the output signal of which represents the amount of the difference between the center position of the steering handwheel and the respectively set rotational position of the steering handwheel 11.

Die Stufe 18 ist ausgangsseitig mit einer Stufe 19 verbunden, deren weiterer Eingang 20 ständig Signale über die Fahrgeschwindigkeit erhält. Damit kann die Stufe 19 ausgangsseitig ein Signal ilenk erzeugen, welches ein geschwindigkeitsabhängiges Übersetzungsverhältnis zwischen dem Drehwinkel des Lenkhandrades 11 und dem Lenkwinkel der Fahrzeuglenkräder 1 repräsentiert.The stage 18 is connected on the output side to a stage 19, the further input 20 of which continuously receives signals about the driving speed. The stage 19 can thus generate a signal i steer on the output side, which represents a speed-dependent transmission ratio between the angle of rotation of the steering handwheel 11 and the steering angle of the vehicle steering wheels 1.

Dieses Signal ilenk wird an einen Eingang eines Dividierers 21 weitergeleitet, welcher darüber hinaus mit dem Eingang 16 verbunden ist und dementsprechend die Signale Phiist, welche den Drehwinkel des Lenkhandrades 11 repräsentieren, empfängt. Durch dividierende Verknüpfung der Signale Phiist und ilenk wird nun ein Signal PhiFahrer erzeugt, welches als fahrerseitige Lenkwinkelvorgabe für die Fahrzeuglenkräder 1 aufgefaßt werden kann.This signal is forwarded to a steering i input of a divider 21, which moreover, is connected to the input 16 and, accordingly, the signals Phi is representing the rotational angle of the steering handwheel 11, receives. By dividing the signals Phi ist and i steer , a signal Phi driver is now generated, which can be understood as the driver's steering angle specification for the vehicle steering wheels 1.

Dieses Signal wird an eine Addierstufe 22 weitergegeben, die zusätzlich Signale einer autonomen Lenkregelung 200 erhält, deren Signale beispielsweise Lenkkorrekturen zum Ausgleich von Seitenwindeinflüssen oder auch sonstige Lenkvorgaben darstellen können. Beispielsweise können diese Signale auch die

Figure imgb0001
gewünschten" Lenkwinkel der Fahrzeuglenkräder 1 repräsentieren, wenn das Fahrzeug automatisch einer vorgegebenen Spur folgen soll.This signal is passed on to an adder 22, which additionally receives signals from an autonomous steering control 200, the signals of which can represent, for example, steering corrections to compensate for side wind influences or other steering specifications. For example, these signals can also
Figure imgb0001
represent the desired steering angle of the vehicle steering wheels 1 if the vehicle is to automatically follow a predetermined lane.

Ausgangsseitig der Addierstufe 22 liegt nun ein Signal Phisoll vor, welches den Sollwert der Lenkwinkel der Fahrzeuglenkräder 1 repräsentiert.On the output side of the adder stage 22 there is now a signal Phi soll , which represents the target value of the steering angle of the vehicle steering wheels 1.

Dieses Signal wird einerseits unmittelbar einem Eingang eines Multiplizierers 23 zugeführt, dessen anderer Eingang mit einer Stufe 24 verbunden ist, die eingangsseitig ebenfalls das Signal Phisoll erhält. In der Stufe 24 wird nun die Kinematik der Antriebsübertragung zwischen Stellaggregat 3 (vgl. Fig.1) und den Fahrzeuglenkrädern 1 berücksichtigt. In der Regel ist der Lenkwinkel der Fahrzeuglenkräder 1 nicht exakt linear proportional zum Stellhub des Stellaggregates 3. In der Stufe 24 wird deshalb ein Signal ikin erzeugt, welches als Korrekturfaktor aufgefaßt werden kann.On the one hand, this signal is fed directly to an input of a multiplier 23, the other input of which is connected to a stage 24, which also receives the signal Phi soll on the input side. In stage 24, the kinematics of the drive transmission between the actuating unit 3 (see FIG. 1) and the vehicle steering wheels 1 is now taken into account. As a rule, the steering angle of the vehicle steering wheels 1 is not exactly linearly proportional to the actuating stroke of the actuating unit 3. In step 24, therefore, a signal i kin is generated, which can be understood as a correction factor.

Das Signal ikin und das Signal Phisoll werden nun im Multiplizierer 23 miteinander multiplikativ verknüpft, so daß ausgangsseitig ein Signal xsoll vorliegt, welches denjenigen Sollwert des Stellhubes des Stellaggregates 3 repräsentiert, der aufgrund der jeweiligen Kinematik der Antriebsübertragung zwischen Stellaggregat 3 und Fahrzeuglenkrädern 1 dem jeweiligen Sollwert Phisoll des Lenkwinkels der Fahrzeuglenkräder entspricht.The signal i kin and the signal Phi soll are now multiplicatively linked to one another in the multiplier 23, so that on the output side there is a signal x soll which represents that setpoint of the actuating stroke of the actuating unit 3 which, due to the respective kinematics of the drive transmission between the actuating unit 3 and the vehicle steering wheels 1 the respective target value Phi should correspond to the steering angle of the vehicle steering wheels.

Das Signal xsoll bildet das Ausgangssignal des Sollwertgebers 13 bzw. das Eingangssignal des Reglers 14.The signal x soll forms the output signal of the setpoint generator 13 or the input signal of the controller 14.

Im Regler 14 wird das Signal xsoll einerseits einer Differenzierstufe 26 zugeführt, die ausgangsseitig einen von der Änderungsgeschwindigkeit des Sollwertes xsoll abhängigen Ausgang S erzeugt.In the controller 14, the signal x soll is, on the one hand, fed to a differentiating stage 26, which on the output side generates an output S which is dependent on the rate of change of the target value x soll .

Andererseits wird das Signal xsoll einem Vergleicher 27 zugeführt, der dieses Signal mit dem Istwert xist des Stellhubes des Stellaggregates 3 vergleicht; dieses Signal xist wird mittels des Sensors 15 (vgl. Fig. 1) erzeugt.On the other hand, the signal x to a comparator 27 supplied to said actual value of x is that signal compares the stroke measurement of the adjusting unit 3; this signal x ist is generated by means of the sensor 15 (cf. FIG. 1).

Ausgangsseitig erzeugt der Vergleicher 27 ein Signal X, welches die Regeldifferenz, d.h. die Differenz zwischen xsoll und xist wiedergibt.On the output side, the comparator 27 outputs a signal X, which the control difference, ie the difference between x and x is intended to reproduce.

Dieses Signal X wird im Sinne einer modifizierten PD-Regelung verarbeitet.This signal X is processed in the sense of a modified PD control.

Dazu wird in einer Stufe 28, die eingangsseitig das Signal X erhält, ein Signal P erzeugt, welches proportional zur Regeldifferenz ist. Außerdem wird in einer Differenzierstufe 29, die das Signal X ebenfalls empfängt, ein Signal d erzeugt, welches proportional zur Änderungsgeschwindigkeit der Regeldifferenz X ist.For this purpose, a signal P is generated in a stage 28, which receives the signal X on the input side, which signal is proportional to the control difference. In addition, in a differentiating stage 29, which also receives the signal X, a signal d is generated which is proportional to the rate of change of the control difference X.

Außerdem wird die Regeldifferenz X einer Stufe 30 zugeführt, die ausgangsseitig ein Signal

Figure imgb0001
null" erzeugt, wenn der Betrag der Regeldiffernz X unterhalb eines ersten Schwellwertes liegt. Liegt der Betrag der Regeldifferenz X oberhalb eines zweiten Schwellwertes, der größer als der erste Schwellwert ist, erzeugt die Stufe 30 ausgangsseitig ein Signal
Figure imgb0001
eins". Liegt die Regeldifferenz X betragsmäßig zwischen den beiden Schwellwerten, wird ausgangsseitig von der Stufe 30 ein Signal erzeugt, welches zwischen
Figure imgb0001
null" und
Figure imgb0001
eins" liegt und mit betragsmäßig ansteigenden Regeldifferenzen anwächst.In addition, the control difference X is fed to a stage 30, which has a signal on the output side
Figure imgb0001
"is generated if the amount of the control difference X is below a first threshold value. If the amount of the control difference X is above a second threshold value, which is greater than the first threshold value, the stage 30 generates a signal on the output side
Figure imgb0001
one ". If the control difference X is between the two threshold values, a signal is generated on the output side by the stage 30, which signal between
Figure imgb0001
null "and
Figure imgb0001
one "lies and grows with increasing regulatory differences.

In einem Multiplizierer 31 werden die Signal d und die Ausgangssignale der Stufe 30 miteinander multiplikativ verknüpft, so daß ausgangsseitig ein Signal D erzeugt wird. Falls die Regeldifferenz X betragsmäßig oberhalb des zweiten Schwellwertes liegt, entspricht das Signal D dem Signal d. Falls die Regeldifferenz X betragsmäßig kleiner als der erste Schwellwert ist, entspricht das Signal D dem Signal

Figure imgb0001
null". Falls die Regeldifferenz X betragsmäßig zwischen den beiden Schwellwerten liegt, repräsentiert das Signal D einen Wert zwischen
Figure imgb0001
null" und dem vom Signal d repräsentierten Wert.In a multiplier 31, the signal d and the output signals of the stage 30 are multiplicatively linked to one another, so that a signal D is generated on the output side. If the control difference X is above the second threshold value, the signal D corresponds to the signal d. If the control difference X is smaller than the first threshold value, the signal D corresponds to the signal
Figure imgb0001
zero ". If the control difference X is between the two threshold values, the signal D represents a value between
Figure imgb0001
zero "and the value represented by signal d.

Das Signal S, welches einen Steueranteil repräsentiert und das Signal P, welches einen proportionalen Regelanteil repräsentiert, sowie das Signal D, welches einen modifizierten differentiellen Regelanteil darstellt, werden in einem Summierer 32 additiv miteinander verknüpft, dessen Ausgangssignal den elektrischen Ventilstrom iVentil für die Stellmagnete des Proportionalventils 6 darstellen.The signal S, which represents a control component and the signal P, which represents a proportional control component, and the signal D, which represents a modified differential control component, are additively linked to one another in a summer 32, the output signal of which is the electrical valve current i valve for the actuating magnets of the proportional valve 6.

Damit steuert das Signal iVentil im Ergebnis das Stellaggregat 3, dessen Stellhub vom Sensor 15 überwacht wird, der dementsprechend das Signal xist erzeugt, welches die Istlage des Stellaggregates 3 wiedergibt und dem Vergleicher 27 zugeführt wird, wie bereits oben erwähnt wurde. Andererseits kann dieses Signal auch der autonomen Steuerung 200 für besondere Fahrzustände zugeführt werden.The signal i valve thus controls the actuating unit 3, the actuating stroke of which is monitored by the sensor 15, which accordingly the signal x is generated, which reproduces the actual position of the actuating unit 3 and is fed to the comparator 27, as already mentioned above. On the other hand, this signal can also be fed to the autonomous control 200 for special driving conditions.

Die Differenzierstufen 26 und 29 können gegebenenfalls durch entsprechend abgestimmte Hochpaßfilter gebildet sein.The differentiating stages 26 and 29 can optionally be formed by appropriately coordinated high-pass filters.

Claims (7)

Fahrzeuglenkung mit vom Fahrer betätigter Lenkhandhabe, insbesondere Lenkhandrad, und damit wirkverbundenen gelenkten Fahrzeugrädern, wobei die Lenkhandhabe eine Sollwertgeberanordnung betätigt und die gelenkten Fahrzeugräder durch einen hydraulischen Stellantrieb betätigt werden, der seinerseits mittels elektrisch betätigter Magnetventilanordnung gesteuert wird, deren elektrischer Ventilstrom von einem durch Soll-Istwert-Vergleich des Lenkwinkels bzw. einer damit korrelierten Größe bestimmten Regelanteil abhängig ist,
dadurch gekennzeichnet,
daß der elektrische Ventilstrom zusätzlich in Abhängigkeit von einem sollwertabhängigen Steueranteil (S) gesteuert wird.Vehicle steering with driver-operated steering handle, in particular steering handwheel, and steered vehicle wheels operatively connected to it, the steering handle actuating a setpoint generator arrangement and the steered vehicle wheels being actuated by a hydraulic actuator, which in turn is controlled by means of an electrically operated solenoid valve arrangement, the electric valve current of which is controlled by a Actual value comparison of the steering angle or a control component determined with the correlated variable is dependent,
characterized,
that the electric valve current is additionally controlled as a function of a setpoint-dependent control component (S). Fahrzeuglenkung nach Anspruch 1,
dadurch gekennzeichnet,
daß der Steueranteil (S) proportional der Änderunsgeschwindigkeit des Sollwertes (xsoll) ist.Vehicle steering according to claim 1,
characterized by
that the control portion (S) proportional to the Änderunsgeschwindigkeit of the desired value (x soll). Fahrzeuglenkung nach Anspruch 1 oder 2,
dadurch gekennzeichnet,
daß der Regelanteil (P,D) einen Proportionalanteil (P) sowie oberhalb eines Schwellwertes der Regeldifferenz (X) auch einen Differentialanteil (D) der Regeldifferenz (X) umfaßt.Vehicle steering according to claim 1 or 2,
characterized by
that the control component (P, D) comprises a proportional component (P) and above a threshold value of the control difference (X) also a differential component (D) of the control difference (X). Fahrzeuglenkung nach einem der Ansprüche 1 bis 3,
dadurch gekennzeichnet,
daß der elektrische Ventilstrom proportional zur Stellgeschwindigkeit des Stellantriebes (3) ist.Vehicle steering according to one of claims 1 to 3,
characterized by
that the electric valve current is proportional to the actuating speed of the actuator (3). Fahrzeuglenkung nach einem der Ansprüche 1 bis 4,
dadurch gekennzeichnet,
daß die Sollwertgeberanordnung (13) fahrgeschwindigkeitsabhängig arbeitet, z.B. derart, daß der Sollwert im Sinne eines Produktes sowohl von der Stellung der Lenkhandhabe als auch der Fahrgeschwindigkeit abhängt.Vehicle steering according to one of claims 1 to 4,
characterized by
that the setpoint generator arrangement (13) works as a function of vehicle speed, for example in such a way that the setpoint in the sense of a product depends both on the position of the steering handle and the vehicle speed. Fahrzeuglenkung nach einem der Ansprüche 1 bis 5,
dadurch gekennzeichnet,
daß die Sollwertgeberanordnung (13) eine Einheit (24) umfaßt, die eine Nichtlinearität zwischen Stellweg des Stellaggregates (3) und Lenkwinkel der Fahrzeuglenkräder (1) kompensiert.Vehicle steering according to one of claims 1 to 5,
characterized by
that the setpoint device (13) comprises a unit (24) which compensates for a non-linearity between the travel of the actuating unit (3) and the steering angle of the vehicle steering wheels (1). Fahrzeuglenkung nach einem der Ansprüche 1 bis 6,
dadurch gekennzeichnet,
daß die Sollwertgeberanordnung (13) einen Eingang für eine autonome Steuerung (200) in Abhängigkeit von yorzugebenden Parametern aufweist.Vehicle steering according to one of claims 1 to 6,
characterized by
that the setpoint generator arrangement (13) has an input for an autonomous control (200) as a function of parameters to be specified.
EP97104653A 1996-04-25 1997-03-19 Vehicle steering device Expired - Lifetime EP0803427B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19616437A DE19616437C1 (en) 1996-04-25 1996-04-25 Vehicle steering system with handwheel actuating set-point device
DE19616437 1996-04-25

Publications (3)

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EP0803427A2 true EP0803427A2 (en) 1997-10-29
EP0803427A3 EP0803427A3 (en) 1998-09-02
EP0803427B1 EP0803427B1 (en) 2001-11-14

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ID=7792354

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DE19616437C1 (en) 1997-08-28
JP3177479B2 (en) 2001-06-18
DE59705330D1 (en) 2001-12-20
EP0803427B1 (en) 2001-11-14
JPH1045015A (en) 1998-02-17
US6012540A (en) 2000-01-11
EP0803427A3 (en) 1998-09-02

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